#ifndef __CHASSIS_TASK_H
#define __CHASSIS_TASK_H
#include "main.h"	

#define CHASSIS_MOTOR_PID_KP 15000
#define CHASSIS_MOTOR_PID_KI 0
#define CHASSIS_MOTOR_PID_KD 0
#define CHASSIS_MOTOR_PID_MAX_IOUT 0
#define CHASSIS_MOTOR_PID_MAX_OUT 5000

#define LimitMax(input, max)   \
    {                          \
        if (input > max)       \
        {                      \
            input = max;       \
        }                      \
        else if (input < -max) \
        {                      \
            input = -max;      \
        }                      \
    }
#endif	
